99 lines
3.3 KiB
Markdown
99 lines
3.3 KiB
Markdown
|
# Cabana
|
||
|
|
|
||
|
|
Cabana is a tool developed to view raw CAN data. One use for this is creating and editing [CAN Dictionaries](http://socialledge.com/sjsu/index.php/DBC_Format) (DBC files), and the tool provides direct integration with [commaai/opendbc](https://github.com/commaai/opendbc) (a collection of DBC files), allowing you to load the DBC files direct from source, and save to your fork. In addition, you can load routes from [comma connect](https://connect.comma.ai).
|
||
|
|
|
||
|
|
## Usage Instructions
|
||
|
|
|
||
|
|
```bash
|
||
|
|
$ ./cabana -h
|
||
|
|
Usage: ./cabana [options] route
|
||
|
|
|
||
|
|
Options:
|
||
|
|
-h, --help Displays help on commandline options.
|
||
|
|
--help-all Displays help including Qt specific options.
|
||
|
|
--demo use a demo route instead of providing your own
|
||
|
|
--qcam load qcamera
|
||
|
|
--ecam load wide road camera
|
||
|
|
--stream read can messages from live streaming
|
||
|
|
--panda read can messages from panda
|
||
|
|
--panda-serial <panda-serial> read can messages from panda with given serial
|
||
|
|
--socketcan <socketcan> read can messages from given SocketCAN device
|
||
|
|
--zmq <zmq> the ip address on which to receive zmq
|
||
|
|
messages
|
||
|
|
--data_dir <data_dir> local directory with routes
|
||
|
|
--no-vipc do not output video
|
||
|
|
--dbc <dbc> dbc file to open
|
||
|
|
|
||
|
|
Arguments:
|
||
|
|
route the drive to replay. find your drives at
|
||
|
|
connect.comma.ai
|
||
|
|
```
|
||
|
|
|
||
|
|
## Examples
|
||
|
|
|
||
|
|
### Running Cabana in Demo Mode
|
||
|
|
To run Cabana using a built-in demo route, use the following command:
|
||
|
|
|
||
|
|
```shell
|
||
|
|
cabana --demo
|
||
|
|
```
|
||
|
|
|
||
|
|
### Loading a Specific Route
|
||
|
|
|
||
|
|
To load a specific route for replay, provide the route as an argument:
|
||
|
|
|
||
|
|
```shell
|
||
|
|
cabana "a2a0ccea32023010|2023-07-27--13-01-19"
|
||
|
|
```
|
||
|
|
|
||
|
|
Replace "0ccea32023010|2023-07-27--13-01-19" with your desired route identifier.
|
||
|
|
|
||
|
|
|
||
|
|
### Running Cabana with multiple cameras
|
||
|
|
To run Cabana with multiple cameras, use the following command:
|
||
|
|
|
||
|
|
```shell
|
||
|
|
cabana "a2a0ccea32023010|2023-07-27--13-01-19" --dcam --ecam
|
||
|
|
```
|
||
|
|
|
||
|
|
### Streaming CAN Messages from a comma Device
|
||
|
|
|
||
|
|
[SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and start the bridge with the following command:
|
||
|
|
|
||
|
|
```shell
|
||
|
|
cd /data/openpilot/cereal/messaging/
|
||
|
|
./bridge &
|
||
|
|
```
|
||
|
|
|
||
|
|
Then Run Cabana with the device's IP address:
|
||
|
|
|
||
|
|
```shell
|
||
|
|
cabana --stream --zmq <ipaddress>
|
||
|
|
```
|
||
|
|
|
||
|
|
Replace <ipaddress> with your comma device's IP address.
|
||
|
|
|
||
|
|
While streaming from the device, Cabana will log the CAN messages to a local directory. By default, this directory is ~/cabana_live_stream/. You can change the log directory in Cabana by navigating to menu -> tools -> settings.
|
||
|
|
|
||
|
|
After disconnecting from the device, you can replay the logged CAN messages from the stream selector dialog -> browse local route.
|
||
|
|
|
||
|
|
### Streaming CAN Messages from Panda
|
||
|
|
|
||
|
|
To read CAN messages from a connected Panda, use the following command:
|
||
|
|
|
||
|
|
```shell
|
||
|
|
cabana --panda
|
||
|
|
```
|
||
|
|
|
||
|
|
### Using the Stream Selector Dialog
|
||
|
|
|
||
|
|
If you run Cabana without any arguments, a stream selector dialog will pop up, allowing you to choose the stream.
|
||
|
|
|
||
|
|
```shell
|
||
|
|
cabana
|
||
|
|
```
|
||
|
|
|
||
|
|
## Additional Information
|
||
|
|
|
||
|
|
For more information, see the [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
|